SICK LD-MRS 3D LiDAR sensors Operating instructions

OPERATING INSTRUCTIONS

LD-MRS

3D LiDAR sensors

Operating Instructions

Laser measurement sensor LD-MRS

8012948/102H/2018-10-24

Software version

Software version described

Copyright

Copyright  2009 - 2017

SICK AG Waldkirch

Auto Ident, Reute plant

Nimburger Strasse 11

79276 Reute

Germany

Trademark

Windows 2000

TM

, XP

TM

, Vista

TM

, Windows 7

TM

Windows 8

TM

, Windows 10

TM

are registered

trademarks or trademarks of the Microsoft Corporation in the USA and other countries.

Adobe

®

Reader

®

is a registered trademark of Adobe Systems Incorporated.

Download via Internet: http://get.adobe.com/reader/

Version of these operating instructions

The latest version of these operating instructions can be obtained as PDF at www.sick.com.

Device/Software/Tool

Function Version

LD-MRS400001

(LD-MRS)

Firmware (DSP)

Firmware (FPGA)

as of V. 2.0.x

as of V. 9.0.x

LD-MRS400102

(LD-MRS HD)

Firmware (DSP)

Firmware (FPGA)

as of V. 2.0.x

as of V. 9.0.x

LD-MRS420201

(LD-MRS UAV)

Firmware (DSP)

Firmware (FPGA)

as of V. 2.0.x

as of V. 9.0.x

LD-MRS800001

(LD-MRS 8-Layer)

Firmware (DSP)

Firmware (FPGA)

as of V.3.0.x

as of V.9.6.x

SOPAS ET

1)

Configuration software for field monitoring as of V. 2.22

SICK LaserView Cus-

tomer Edition

1)2)

Configuration software and visualization tool for mea-

suring mode

as of V. 1.5.4

1) Can run on a computer with an operating system starting at Windows 2000

TM

2) For installation and use, see the operating instructions "Visualization tool SICK LaserView Customer Edition“ (Part No.

8013787, English version) on the provided CD, "Manuals & Software LD-MRS" The visualization tool "SICK LaserView Custom-

er Edition" will hencworth be called „LaserView“.

Operating Instructions

LD-MRS

8012948/102H/2018-10-24

Content

1 About this document .................................................................................................. 9

1.1 Function.................................................................................................................... 9

1.2 Target group ............................................................................................................. 9

1.3 Depth of information ............................................................................................... 9

1.4 Symbology used .....................................................................................................10

2 For your safety ...........................................................................................................11

2.1 Safety standards....................................................................................................11

2.2 Authorized personnel.............................................................................................11

2.3 Intended use ..........................................................................................................12

2.4 General safety notes and protective means........................................................13

2.5 Quick stop and Quick restart.................................................................................15

2.6 Environmental protection......................................................................................15

3 Product description...................................................................................................17

3.1 Design of the device ..............................................................................................17

3.2 Scope of delivery ...................................................................................................19

3.3 System requirements ............................................................................................21

3.4 Operating principle of the device..........................................................................22

3.5 Measuring mode ....................................................................................................37

3.6 Object Tracking (LD-MRSxxxx.S01 only)...............................................................39

3.7 Mounting upside down (LD-MRS 8-Layer only)....................................................47

3.8 Field monitoring (for LD-MRS400xxx only)..........................................................48

3.9 Function of the 8-layer sensors ............................................................................52

3.11 Status indicators and controls ..............................................................................55

4 Mounting ....................................................................................................................57

4.1 Overview of the mounting steps ...........................................................................57

4.2 Preparations for mounting ....................................................................................57

4.3 Mounting and adjustment of the device ..............................................................58

4.4 Mount the optional CAN module...........................................................................62

4.5 Dismounting the device.........................................................................................63

5 Electrical installation ................................................................................................65

5.1 Overview of the installation steps.........................................................................65

5.2 Planning the electrical installation .......................................................................66

5.3 Electrical connections and cables ........................................................................67

5.4 Perform electrical installation...............................................................................70

5.5 Pin assignments and wire colors of the assembled cables................................79

6 Commissioning and configuration .........................................................................82

6.1 Overview for the startup steps for field monitoring.............................................82

6.2 SOPAS-ET configuration program .........................................................................82

6.6 Synchronization......................................................................................................86

6.7 Switching off the LD-MRS......................................................................................88

7 Maintenance ..............................................................................................................90

7.1 Maintenance during operation .............................................................................90

7.2 Cleaning the device ...............................................................................................90

7.3 Exchanging an LD-MRS .........................................................................................91

8 Troubleshooting.........................................................................................................92

8.1 Warnings and fault messages ..............................................................................92

8.2 Overview of possible errors and faults .................................................................92

8.3 Monitor error and fault indications.......................................................................92

8.4 Troubleshooting ...................................................................................................93

8.5 SICK Support ..........................................................................................................94

9 Technical specifications ...........................................................................................95

9.1 Data sheets ............................................................................................................95

9.2 Dimensional drawings ...........................................................................................98

9.3 Conditions for integrating the LD-MRS.............................................................. 105

10 Annex ....................................................................................................................... 107

10.1 Overview of the annex ........................................................................................ 107

Operating Instructions

Laser measurement sensor LD-MRS

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Content

10.2 Additional documentation...................................................................................107

10.3 Ordering information ...........................................................................................107

10.4 Glossary................................................................................................................108

10.5 EC Declaration of Conformity..............................................................................109

Operating Instructions

LD-MRS

Indexes

8012948/102H/2018-10-24

Abbreviations

CAN Controller Area Network = Standardized field bus system with a message-oriented data ex-

change protocol

EEPROM Electrically Erasable Programmable Read-only Memory = non-volatile memory that can be

electrically erased and programmed

LED Light Emitting Diode = light emitting diode

INT Integer

LD Ladar Digital (Ladar = Laser Radar)

MRS Multi-Layer Range Scanner

RAM Random Access Memory = volatile memory with direct access

ROM Read-only Memory = memory that can only be read (non-volatile)

SOPAS-ET SICK OPEN PORTAL for APPLICATION and SYSTEMS Engineering Tool =

Configuration software for configuring the LD-MRS

UAV Unpiloted Aerial Vehicles

UINT Unsigned Integer

Operating Instructions

Laser measurement sensor LD-MRS

8012948/102H/2018-10-24

Indexes

Tables

Tab. 1-1: Target group ....................................................................................................... 9

Tab. 2-1: Required qualification for commissioning the LD-MRS.................................11

Tab. 2-2: Power consumption of the LD-MRS ................................................................15

Tab. 3-1: Delivery of LD-MRS...........................................................................................19

Tab. 3-2: Contents of the CD-ROM "Manuals & Software LD-MRS" .............................19

Tab. 3-3: Device variants of the LD-MRS........................................................................20

Tab. 3-4: Product features and functions (overview) ....................................................21

Tab. 3-5: Naming conventions (colour code see

Fig. 3-5) ..............................................26

Tab. 3-6: Angular resolution 0.125° ..............................................................................31

Tab. 3-7: Angular resolution 0.25°.................................................................................31

Tab. 3-8: Angular resolution 0.5° ...................................................................................31

Tab. 3-9: Setting the layer sensitivity..............................................................................44

Tab. 3-10: Example of a combination of inputs ...............................................................49

Tab. 5-1: Pin assignment of the 4-pin socket (round plug-in connection) "Ethernet" .67

Tab. 5-2: Pin assignment of the 12-pin plug "data interfaces/synchronization" (round

plug-in connection)...........................................................................................67

Tab. 5-3: Pin assignment of the 4-pin plug "Power" (round plug-in connection) .........68

Tab. 5-4: Assembled cables for connecting the LD-MRS ..............................................68

Tab. 5-5: Power consumption of the LD-MRS ................................................................70

Tab. 5-6: Pin assignment of the Ethernet data cable....................................................79

Tab. 5-7: Pin assignment of the connecting cable "Synchronization" ..........................79

Tab. 5-8: Pin assignment of the cable splitter 1:3.........................................................80

Tab. 5-9: Pin assignment of the CAN connecting cable ................................................81

Tab. 5-10: Wire colour assignment of the supply cable ..................................................81

Tab. 6-1: Default setting of SOPAS-ET ............................................................................83

Tab. 6-2: Password ..........................................................................................................85

Tab. 8-1: Troubleshooting the LD-MRS...........................................................................93

Tab. 9-1: Technical specifications LD-MRS....................................................................95

Tab. 9-2: Technical specifications for the CAN modules (from the manufacturer's data

sheets and manuals) .......................................................................................97

Tab. 10-1: Additional documentation ............................................................................ 107

Tab. 10-2: Consumables for the care of the LD-MRS ................................................... 107

Figures

Fig. 2-1: Laser output aperture of the LD-MRS................................................................15

Fig. 3-1: Design of the LD-MRS.........................................................................................18

Fig. 3-2: Principle of time-of-flight measurement............................................................23

Fig. 3-3: Multi-echo capability...........................................................................................24

Fig. 3-4: Multi-layer technology.........................................................................................25

Fig. 3-5: Principle of the scan planes, color-coded .........................................................25

Fig. 3-6: Scanning range ...................................................................................................27

Fig. 3-7: Relation of angle to scanning range..................................................................28

Fig. 3-8: Sensing range in relation to remission..............................................................29

Fig. 3-9: Example of three echoes of a laser pulse .........................................................30

Fig. 3-10: Angular resolution...............................................................................................30

Fig. 3-11: Example: Angular resolution of 0.25° at distance d = 25 m (82 ft) ...............31

Fig. 3-12: Different angular resolution by sector...............................................................32

Fig. 3-13: Scanning frequency 12.5 Hz with constant angular resolution of 0.25° .......33

Fig. 3-14: Scanning frequency 25 Hz with constant angular resolution of 0.25° ..........33

Fig. 3-15: Scanning frequency 50 Hz with constant angular resolution of 0.5°.............34

Fig. 3-16: Reflection of the laser beam at the surface of an object.................................35

Fig. 3-17: Reflection angle ..................................................................................................35

Fig. 3-18: Degree of reflection ............................................................................................35

Operating Instructions

LD-MRS

Indexes

8012948/102H/2018-10-24

Fig. 3-19: Mirror surfaces ................................................................................................... 36

Fig. 3-20: Object smaller than diameter of the laser beam ............................................. 36

Fig. 3-21: Raw data ............................................................................................................. 40

Fig. 3-22: Object contour .................................................................................................... 41

Fig. 3-23: Bounding box ...................................................................................................... 41

Fig. 3-24: Object .................................................................................................................. 42

Fig. 3-25: „Suppressor“ filter.............................................................................................. 43

Fig. 3-26: Setting the near range sensitivity...................................................................... 44

Fig. 3-27: Example for measurement result with „Clutter“ .............................................. 45

Fig. 3-28: „Noise Control“-Filter.......................................................................................... 46

Fig. 3-29: Device parameter: Upside down mounting ...................................................... 47

Fig. 3-30: Principle of field monitoring............................................................................... 48

Fig. 3-31: Manipulation protection against shadow ......................................................... 50

Fig. 3-32: Examples of evaluation field shapes ................................................................ 51

Fig. 3-33: Function of the 8-layer sensors – upper scan field.......................................... 52

Fig. 3-34: Function of the 8-layer sensors – lower scan field .......................................... 52

Fig. 3-35: Function of the 8 layer sensor – overlapping scan fields................................ 53

Fig. 3-36:

μCAN.8.dio-SNAP module .................................................................................. 54

Fig. 3-37:

μCAN.8.dio-BOX module..................................................................................... 55

Fig. 4-1: Beam expansion................................................................................................. 58

Fig. 4-2: Mount the LD-MRS on holder Part No. 1047429 ............................................ 59

Fig. 4-3: Adjust the holder ................................................................................................ 60

Fig. 4-4: Mount the LD-MRS on the weather resistant cover Part No. 2058033 and on

the holder Part No. 1047429............................................................................ 61

Fig. 4-5: Mount the optional CAN module ....................................................................... 62

Fig. 5-1: Measuring mode: Electrical installation of the LD-MRS .................................. 65

Fig. 5-2: Field monitoring: Electrical installation of the LD-MRS and the CAN module 65

Fig. 5-3: Connection of the voltage supply and wiring of the Ethernet interface.......... 71

Fig. 5-4: Design of the CAN module

μCAN.8.dio-BOX ..................................................... 72

Fig. 5-5: Design of the CAN module

μCAN.8.dio-SNAP ................................................... 73

Fig. 5-6: Connect two CAN modules to the CAN interface of the LD-MRS .................... 74

Fig. 5-7: Connect one CAN module to the CAN interface of the LD-MRS...................... 74

Fig. 5-8: Input switched against V

+PWR .................................................................................................................................................75

Fig. 5-9: A circuit diagram of digital I/O terminal (high side driver)............................... 76

Fig. 5-10: DIP switch for address (example: address 9)................................................... 76

Fig. 5-11: DIP switch for transmission rate (example: 500 kBit/s).................................. 77

Fig. 5-12: Wiring of the RS-232 interface .......................................................................... 78

Fig. 6-1: Principle of data storage .................................................................................... 85

Fig. 6-2: Scheme of the data flow in a system with one LD-MRS and up to two external

devices ................................................................................................................ 86

Fig. 6-3: Details synchronisation...................................................................................... 87

Fig. 6-4: LD-MRS: Sync IN and Sync Out pulse ............................................................... 88

Fig. 9-1: Dimensions of the LD-MRS................................................................................ 98

Fig. 9-2: Dimensions of the LD-MRS................................................................................ 99

Fig. 9-3: Position of the sensor coordinate origin in the LD-MRS UAV ........................ 100

Fig. 9-4: Dimensions of the holder Part No. 1047429................................................. 101

Fig. 9-5: Dimensions of the weather resistant cover Part no. 2058033 ....................102

Fig. 9-6: Dimensions of the two designs of the CAN modules .....................................103

Fig. 9-7: Dimensions of the shock mounting ................................................................104

Fig. 9-8: Boundary conditions for integration................................................................105

Fig. 10-1: Illustration containing the EC Declaration of Conformity, page 1 (size reduced)

109

Chapter 1 Operating Instructions

Laser measurement sensor LD-MRS

8012948/102H/2018-10-24

About this document

1 About this document

1.1 Function

This document informs technical personnel how to safely install and operate these versions

of the LD-MRS laser measurement sensor:

• LD-MRS400001 (standard version)

• LD-MRS400102 (heavy duty version)

• LD-MRS420201 (UAV-Version with light housing)

• LD-MRS800001 (standard version with 8 layers)

The document contains information about

• Mounting and electrical installation

• Commissioning and configuration (parametrization)

• Maintenance

• Troubleshooting

• Replacing the laser measurement sensor

Important In the following, the LD-MRS400001, LD-MRS400102, LD-MRS420201 and LD-

MRS800001 laser measurement sensors are termed "LD-MRS" for short, except in cases

where differences need to be explained specifically.

1.2 Target group

The target group of this document are people in the following positions:

1.3 Depth of information

This document contains all information required for mounting, electrical installation and

commissioning of the LD-MRS with factory settings.

All tasks are described step by step.

The configuration of the LD-MRS for user-specific situations in measuring mode as well as

measurement queries for displaying the scan data are done via the provided visualization

tool SICK LaserView Customer Edition or with messages. The LaserView software is also

used to configure the object data. Further Information is available in the corresponding do-

cument Article no. 8013787.

To configure field monitoring, use the SOPAS-ET configuration software. SOPAS-ET can also

display scanning data from measuring mode.

Further information about laser measurement technology is available from SICK AG, Divi-

sion Auto Ident, and on the internet at www.sick.com.

1.4 Symbology used

Some information in this documentation are highlighted to facilitate quick access to these

information:

Activities Target group

Mounting, electrical installation, main-

tenance, replacement

Qualified personnel, e.g. service technicians, factory

electricians

Commissioning, configuration Qualified personnel, e.g. technicians, engineers

Tab. 1-1: Target group

Operating Instructions Chapter 2

LD-MRS

For your safety

8012948/102H/2018-10-24

NOTICE

Note!

A note indicates potential hazards that could involve damage or degradation of the function-

ality of the LD-MRS.

WARNING

Warning!

A warning indicates an actual or potential hazard for the physical integrity of the user. They

are designed to help to prevent accidents.

The safety symbol beside the warning indicates the nature of the risk of accident, e. g. due

to electricity. The incremental warning category (CAUTION, WARNING, DANGER) indicates

the severity of the hazard.

 Always read carefully and follow the warning notices.

Cross-reference Text in italics indicates a reference to more detailed information.

Important This important note informs about special issues.

Explanation An explanation provides background knowledge about technical relations.

Recommendation Recommendations are designed to assist in the decision-making process with respect to a

certain function or a technical measure.

Basic settings Marks a section listing the values of the factory settings.

B

AUD RATE This typeface indicates a term in the configuration software SOPAS-ET.

This symbol identifies a section that describes the operating steps with the SOPAS-ET con-

figuration software.

This symbol refers to supplementary technical documentation.

 Instructions for taking action are shown by an arrow. This symbol indicates an instruction

that only consists of one step, or a warning note with several steps that do not require any

particular order.

Multiple step instructions in a required sequence are identified by a sequential numbers.

2 For your safety

This chapter deals with your own safety.

 Read this chapter carefully before using the LD-MRS.

2.1 Safety standards

The LD-MRS has been designed and manufactured under consideration of a risk analysis

and careful selection of the pertinent harmonized standards as well as other technical spec-

ifications. Hence, the LD-MRS matches state-of-the-art technology.

Chapter 2 Operating Instructions

Laser measurement sensor LD-MRS

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For your safety

In design and production, established technological rules have been applied and observed.

Development and production in SICK AG ensure this quality standard by a certified quality

management system according to EN ISO 9001:2008.

If the user adheres to all safety notes in this operating instructions and uses the device as

intended, he is sufficiently protected.

2.2 Authorized personnel

The LD-MRS must be mounted and operated by qualified personnel to ensure its proper and

safe function.

Important Only trained and authorized service personnel of SICK AG may repair the LD-MRS.

The different tasks require the following qualification:

Activities Qualification

Mounting, maintenance – practical technical basic training

– knowledge of the established safety rules at work

Electrical installation,

device replacement

– practical electrical training

– knowledge of the established electric safety rules

Commissioning, configura-

tion

– basic knowledge of Windows

TM

in the version used on site

– basic knowledge of data transmission

– Basic knowledge of how to establish and set up (address) Ethernet

connections when connecting the LD-MRS to the Ethernet

– Basic knowledge of how to establish and set up a CAN network

when using field monitoring

Processing the measured

values in EDP systems

– Programming skills for the application to be created in measuring

mode

Tab. 2-1: Required qualification for commissioning the LD-MRS

Operating Instructions Chapter 2

LD-MRS

For your safety

8012948/102H/2018-10-24

2.3 Intended use

The LD-MRS allows two applications with its radial field of view:

• The detection of objects around the location or installation site while continuously out-

putting measurements upon request, or

• Field monitoring of freely definable areas while signaling field violations via external

switch outputs

The device is designed for application in the industrial sector, in particular outside.

Important Every other use as well as modifications to the device, including those within the course of

mounting and electrical installation, will render void any warranty claim towards SICK AG.

 Only operate the LD-MRS in the permitted ambient temperature range, see Chapter 9

Technical specifications, Page 94.

The user of the LD-MRS has to ensure that

• the device is only used in compliance with the listed specifications and environment

conditions, see Chapter 9.1 Data sheets, Page 94,

• country-specific standards and regulations are adhered to, depending on the kind of

operation,

• the device is only used in proper, functional state,

• safety and warning labels attached to the device are not removed or covered and re-

main readable,

• the operating instructions are available on site in a readable form and that the autho-

rized personnel had read the operating instructions and is thus sufficiently qualified.

Important Loss of warranty!

The housing of the laser measurement sensor LD-MRS is closed with a seal. Breaking the

seal and opening the device causes a loss of warranty claims towards SICK AG. The housing

may only be opened by authorized service personnel of SICK AG.

Chapter 2 Operating Instructions

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For your safety

2.4 General safety notes and protective means

 Read the general safety notes carefully and strictly observe them in when working at or

with the LD-MRS. Also observe the warning notes printed before the instructions in the

individual chapters of this document.

WARNING

Safety notes

Observe the following points in order to ensure safe use as intended of the LD-MRS:

• The user must ensure that every person working on or with the LD-MRS has read and

understood these operating instructions.

• Official and legal requirements must be adhered to when operating the LD-MRS.

• For installation and usage of the LD-MRS as well as for commissioning and regular tech-

nical inspection, national/international legal requirements apply, in particular

– the accident prevention regulations/safety rules

– other pertinent safety rules

• Adhere to the following safety notes in order to prevent dangers for persons and/or

property:

– T

he operator must ensure by suitable instructions and inspections that the window

of the LD-MRS is always clean.

– Additionally, the local safety and accident prevention regulations apply for operating

the LD-MRS.

– A defect of the control functions can cause danger for human life or property dam-

age at the LD-MRS.

• Data integrity

In its products, SICK AG uses information technology, such as IO-Link or standard IP

technology. The focus is on the availability of the products and their features. It is the

consistent assumption of SICK AG that the user will maintain the integrity and confiden-

tiality of data and rights that are affected by the use of the products.

The user must observe appropriate safety measures such as network separation, fire-

walls, viral protection and patch management according to the situation.

2.4.1 Range of application

WARNING

Not permitted for personal protection!

The LD-MRS is NOT a device for ensuring personal protection as defined by applicable safe-

ty standards for machines!

Operating Instructions Chapter 2

LD-MRS

For your safety

8012948/102H/2018-10-24

2.4.2 Electrical installation tasks

• Only trained personnel may perform the electrical installation.

• Electrical connection may only be established or disconnected when not under voltage.

• Specify and implement the wire diameter and the correct fusing according to valid stan-

dards.

2.4.3 Malfunctions

CAN modules for external switching inputs and outputs (accessories)

NOTICE

Potential radio interference when using the optional CAN modules in residential areas.

 Only use the laser measurement sensor LD-MRS together with the CAN modules in an

industrial setting.

2.4.4 Laser protection

CAUTION

Laser radiation!

The LD-MRS uses infrared light laser. The device is specified as laser class 1 (eye-safe).

The laser beam is invisible to the human eye!

Caution — use of controls, adjustments or performance of procedures other than those

specified herein may result in hazardous radiation exposure.

 Do not open the housing of the LD-MRS (opening the housing does not interrupt laser

operation).

 Observe the valid laser protection regulations in their newest version.

Laser power

The laser operates at a wave length λ = approx. 905 nm (invisible infrared light).

The product is classified as laser class 1 EN/IEC 60825-1:2014, 21 CFR 1040.10 and 21

CFR 1040.11.

Identical laser class for issue EN/IEC 60825-1:2007. The radiation emitted

in normal operation is not harm-ful to the eyes and human skin.

Important In order to ensure laser class 1, no maintenance is necessary.

Laser output aperture

The laser output aperture is the window of the LD-MRS.

Chapter 2 Operating Instructions

Laser measurement sensor LD-MRS

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For your safety

Caption:

1Window

2.5 Quick stop and Quick restart

The device has no separate switch for the supply voltage.

2.5.1 Switching off the LD-MRS

 Switch off the supply voltage by disconnecting from the supply system, or loosen and

remove the supply cable at the "Power" connection.

2.5.2 Switching on the LD-MRS

 Switch on the supply voltage or connect the supply cable again with the "Power" con-

nection.

The LD-MRS starts operation with the most recently stored permanently para

meter

se

t.

2.6 Environmental protection

The LD-MRS has been designed to minimize environmental impact.

2.6.1 Energy consumption

At 9 to 27 V DC, the LD-MRS draws the following:

The optional CAN module consumes approximately 1.5 W at 8 to 50 V DC without a load.

Fig. 2-1: Laser output aperture of the LD-MRS

1

Process Power consumption

Switch-on typically 36 W (1.5 A at 24 V DC)

permanent operation typically 8 W (0.34 A at 24 V DC)

permanent operation max. 10 W (0.4 A at 24 V DC)

Tab. 2-2: Power consumption of the LD-MRS

Operating Instructions Chapter 2

LD-MRS

For your safety

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2.6.2 Disposal after final decommissioning

Currently the SICK AG does not offer a return service for inoperative or irreparable devices.

 Always dispose of unserviceable or irreparable devices in compliance with local/nation-

al rules and regulations on waste disposal.

The design of the LD-MRS allows for recovery of secondary raw material and hazardous

waste (e-scrap).

Chapter 3 Operating Instructions

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Product description

3 Product description

This chapter provides information on design, special features and properties of the LD-MRS.

 For information on assembly, electrical installation and startup of the LD-MRS, consult

the section before starting.

3.1 Design of the device

The laser measurement sensor LD-MRS consists of a laser measurement system and a mir-

ror construction. The components - laser measurement system and mirror construction - are

mounted in a rugged housing.

When looking from the front at the LD-MRS, the right side of the device contains three con-

nections ("Ethernet", "Data interfaces/synchronization" and "Power"), the left side contains

a ventilation unit.

At the rear side of the device, four protruding lugs have a hole each to attach the device at

the point of installation.

Operating Instructions Chapter 3

LD-MRS

Product description

8012948/102H/2018-10-24

3.1.1 Device view

Caption:

1Ventilation element

2Mounting hole ∅ 6.6 mm (4 x)

3Window

4"Ethernet" connection

5"Power" connection

6Data interfaces/synchronization connection

Fig. 3-1: Design of the LD-MRS

2

3 4

1

5

6

Chapter 3 Operating Instructions

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Product description

3.2 Scope of delivery

The LD-MRS delivery includes the following components:

The product information for the LD-MRS laser measurement sensor (Part No. 8012945)

contains all of the ordering information for the product and accessories.

Chapter 10.3 Ordering information, Page 105 provides an overview of consumables for

care and maintenance of the LD-MRS.

3.2.1 Contents of the CD, "Manuals & Software LD-MRS" (Part No. 2050264)

Important The publications and programs on the CD-ROM are also available for download at

www.sick.com.

Download address for PDF visualization software in the Internet:

http://get.adobe.com/reader/

Quantity Component Comment

1 Laser measurement sensor LD-MRS Type depending on order

1 Notes on Device with information and elec-

trical circuit diagram for getting started

Included in the LD-MRS packaging

1 CD-ROM "Manuals & Software LD-MRS"

Tab. 3-1: Delivery of LD-MRS

Component Comment

SoftwareSICK LaserView Customer Edition Visualization tool for measurements; can run on

standard computers (Windows

TM

and Linux)

Software SOPAS-ET Configuration software for field monitoring

including online help (Java), can run on standard

computers (Windows

TM

)

Operating instructions for the "laser measure-

ment sensor LD-MRS"

PDF version in German and English

Operating instructions for the

"SICK LaserView Customer Edition visualiza-

tion tool"

PDF version in German and English

Ethernet Data Protocol PDF in German and English

CAN Data Protocol PDF in German and English

Tab. 3-2: Contents of the CD-ROM "Manuals & Software LD-MRS"

Operating Instructions Chapter 3

LD-MRS

Product description

8012948/102H/2018-10-24

3.2.2 Device variants

The LD-MRS is available in the following variants:

Part No. Designation Type Description

1045046 LD-MRS LD-MRS400001 Scanning range 50 m (164 ft) at 10 % remis-

sion, measurement on 4 planes, enclosure rat-

ing IP 69k

1047145 LD-MRS HD LD-MRS400102 Scanning range 30 m (98,4 ft) at 10 % remis-

sion, measurement on 4 planes, heavy duty,

particularly robust in dusty environments and

areas with spraying liquids, enclosure rating IP

69k

1085081

LD-MRS UAV LD-MRS420201 Scanning range 50 m (164 ft) at 10 % remis-

sion, measurement on 4 planes, particularly

suited and light housing, enclosure rating IP

69k

1069408 LD-MRS 8-Layer LD-MRS800001 Scanning range 50 m at 10 % remission, mea-

surement on up to 8 layers, IP 69k

Tab. 3-3: Device variants of the LD-MRS

Chapter 3 Operating Instructions

Laser measurement sensor LD-MRS

8012948/102H/2018-10-24

Product description

3.3 System requirements

For general system requirements refer to the data sheet for the LD-MRS (see Chapter 9

Technical specifications, Page 94).

The requirements for Mounting, Electrical installation and Commissioning and configura-

tion are summarized in the respective chapters.

3.3.1 Product features and functions (overview)

Performance feature Characteristic

General advantages • reliable detection of objects in the field of view of the LD-MRS

• high scanning range and compact housing

• simultaneous measurement on 8 planes

• LD-MRS HD: expanded penetration through dust by special receiver unit and extended

dust filter software

Safety and comfort for the user • Rugged, compact aluminum housing also available as lightweight housing

• laser class 1, laser switches off in case of faults

• enclosure rating IP 69K in mounted condition

• upgradable by firmware update via data interface Ethernet

•low power consumption

• wide range of supply voltage

Simple operation / parametrization • Configuration of measuring mode using the SICK LaserView Customer Edition visual-

ization tool with Windows and Linux

• And configuration of field monitoring using the SOPAS-ET the configuration software

with Windows

• alternatively using commands in messages

Operating states • wait mode: Configuration of the LD-MRS

• Operating mode measurement: Scanning the field of view

• Operating mode "Object tracking". Scanning the field of view and tracking of up to 64

objects in field of view.

• Field monitoring mode: scanning the field of view and monitoring specific fields for

changes (field intrusion)

Output of results • Measurements: via the Ethernet data interface

• Object tracking: pre-processed object data allows for object tracking of up to 64 ob-

jects simultaneously, as well as the output of their dynamic properties (e.g.. speed, di-

rection, size, etc.)

• Field violations: via a maximum of 10 externals switch outputs with the help of two op-

tional CAN modules (accessory) with eight configurable I/O ports each, optional arm-

ing of specific, freely-definable evaluation instances through 2 external switching

inputs

Electric interfaces • power supply (9 to 27 V DC)

• Ethernet data interface

• Data interface CAN

• synchronization interface

• auxiliary data interface: RS-232

Connection technology (type) • connection "Ethernet": 4-pin socket (round plug-in connection)

• connection "Data interfaces/synchronization": 12-pin socket (round plug-in connec-

tion)

• connection "Power": 4-pin plug (round plug-in connection)

Tab. 3-4: Product features and functions (overview)

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SICK LD-MRS 3D LiDAR sensors Operating instructions

SICK LD-MRS 3D LiDAR sensors Operating instructions

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